A single network adaptive critic-based redundancy resolution scheme for robot manipulators

IEEE Transactions on Industrial Electronics

Volumn 59, Issue 8, 2012, Pages 3241-3253

  Patchaikani, Prem Kumar ^a   Behera, Laxmidhar ^a   Prasad, Girijesh ^b  

^a INDIAN INSTITUTE OF TECHNOLOGY KANPUR   (India)

^b UNIVERSITY OF ULSTER   (United Kingdom)

Author keywords

Adaptive critic; approximate dynamic programming (ADP); inverse kinematic control; redundancy resolution; redundant manipulator

Indexed keywords

ADAPTIVE CRITIC; APPROXIMATE DYNAMIC PROGRAMMING; COMPUTATIONALLY EFFICIENT; GLOBAL OPTIMAL SOLUTIONS; INPUT AFFINE SYSTEMS; INVERSE KINEMATIC CONTROL; KINEMATIC CONTROL; OPTIMAL CONTROL LAW; OPTIMAL CONTROL SCHEME; OPTIMAL REDUNDANCY; POWERCUBE; PROBLEM FORMULATION; REAL TIME; REDUNDANCY RESOLUTION; ROBOT MANIPULATOR; SINGLE NETWORKS;

COST FUNCTIONS; DISCRETE TIME CONTROL SYSTEMS; INTEGRAL EQUATIONS; INVERSE KINEMATICS; OPTIMIZATION; REDUNDANT MANIPULATORS; ROBOT APPLICATIONS;

REDUNDANCY;

EID: 84859712546     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2011.2143372     Document Type: Article

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